CN114734815A - Starting self-adaptive control method and device, electronic equipment and storage medium - Google Patents

Starting self-adaptive control method and device, electronic equipment and storage medium Download PDF

Info

Publication number
CN114734815A
CN114734815A CN202210383716.9A CN202210383716A CN114734815A CN 114734815 A CN114734815 A CN 114734815A CN 202210383716 A CN202210383716 A CN 202210383716A CN 114734815 A CN114734815 A CN 114734815A
Authority
CN
China
Prior art keywords
vehicle
engine
starting
value
torque
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210383716.9A
Other languages
Chinese (zh)
Inventor
孙鹏远
宁甲奎
朱桂庆
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
FAW Group Corp
Original Assignee
FAW Group Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by FAW Group Corp filed Critical FAW Group Corp
Priority to CN202210383716.9A priority Critical patent/CN114734815A/en
Publication of CN114734815A publication Critical patent/CN114734815A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/02—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)

Abstract

The embodiment of the invention discloses a starting self-adaptive control method, a starting self-adaptive control device, electronic equipment and a storage medium. The method comprises the following steps: determining whether the vehicle meets a starting adaptive control condition or not according to vehicle state information when the vehicle starts; if the vehicle state information during starting of the vehicle meets the starting adaptive control condition, calculating the difference value between the engine rotating speed and the target engine rotating speed during starting of the vehicle; judging whether the accumulated value of the difference value exceeds a preset threshold value or not; when the accumulated value of the difference value exceeds a preset threshold value, adjusting an engine feedforward torque coefficient table; and controlling the vehicle to start based on the engine feedforward torque coefficient table. The method of the embodiment of the invention improves the accuracy of calculating the rotating speed of the engine. The situation that the clutch is ablated due to overlarge starting slip is avoided. The implementation method is low in difficulty and high in accuracy, and the robustness of the vehicle starting self-adaptive method is improved.

Description

Starting self-adaptive control method and device, electronic equipment and storage medium
Technical Field
The embodiment of the invention relates to the field of intelligent automobiles, in particular to a starting self-adaptive control method, a starting self-adaptive control device, electronic equipment and a storage medium.
Background
The starting control function is a basic control function in the technical field of double-clutch automatic transmissions.
In the conventional starting control method, the engine speed and the target engine speed are substantially matched by controlling the torque of the clutch. However, during actual launch control, the transmission state may exhibit differences from vehicle to vehicle and over different miles of the same vehicle. Such as clutch pressure control accuracy, clutch pressure dynamic response speed, clutch half-engagement point accuracy, and clutch friction coefficient variation due to clutch wear, etc., while engine performance may vary. Because the differences can influence the starting performance of the whole vehicle, the existing starting control method has low accuracy, poor robustness and high implementation difficulty.
Disclosure of Invention
The invention provides a starting self-adaptive control method, a starting self-adaptive control device, electronic equipment and a storage medium, which can achieve that the rotating speed of an engine reaches the target rotating speed of the engine by controlling the torque of a clutch.
In a first aspect, an embodiment of the present invention provides a starting adaptive control method, including:
determining whether the vehicle meets self-adaptive starting control conditions or not according to vehicle state information when the vehicle starts;
if the vehicle state information during starting of the vehicle meets the starting adaptive control condition, calculating a difference value between the engine rotating speed and the target engine rotating speed during starting of the vehicle;
judging whether the accumulated value of the difference value exceeds a preset threshold value or not;
when the accumulated value of the difference value exceeds a preset threshold value, adjusting an engine feedforward torque coefficient table;
and controlling the vehicle to start based on the engine feedforward torque coefficient table.
In a second aspect, an embodiment of the present invention further provides a starting adaptive control device, including:
the condition judgment module is used for determining whether the vehicle meets a starting self-adaptive control condition according to vehicle state information when the vehicle starts;
the difference value calculation module is used for calculating the difference value between the engine rotating speed and the target engine rotating speed when the vehicle starts if the vehicle state information during the vehicle starting meets the starting adaptive control condition;
the accumulated value judging module is used for judging whether the accumulated value of the difference value checks a preset threshold value or not;
the coefficient table adjusting module is used for adjusting an engine feedforward torque coefficient table when the accumulated value of the difference value exceeds a preset threshold value;
and the starting control module is used for controlling the vehicle to start based on the engine feedforward torque coefficient table.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a launch adaptive control method as provided by any embodiment of the invention.
In a fourth aspect, embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the adaptive launch control method according to any of the embodiments of the present invention.
In the embodiment of the invention, whether the vehicle meets the self-adaptive starting control condition or not can be determined according to the vehicle state information when the vehicle starts; calculating the difference value between the engine speed and the target engine speed when the vehicle starts; judging whether the accumulated value of the difference value exceeds a preset threshold value or not; when the accumulated value of the difference value exceeds a preset threshold value, adjusting an engine feedforward torque coefficient table; and controlling the vehicle to start based on the engine feedforward torque coefficient table. In the embodiment of the invention, whether the self-adaptive control of the vehicle starting can be carried out or not can be judged according to the vehicle state information obtained when the vehicle starts, and the engine feedforward torque coefficient table is adjusted according to the difference value between the engine rotating speed and the target engine rotating speed when the vehicle starts every time, so that the accuracy of calculating the engine rotating speed is improved. The self-adaption control method further realizes the self-adaption control of vehicle starting according to the control of the rotating speed of the engine, can ensure the starting consistency of different vehicles and the same vehicle in the whole life cycle, and avoids the situation that the clutch is ablated due to overlarge starting sliding friction. The implementation method is low in difficulty and high in accuracy, and the robustness of the vehicle starting self-adaptive method is improved.
Drawings
Fig. 1 is a flowchart of a starting adaptive control method according to an embodiment of the present invention;
fig. 2 is a flowchart of another starting adaptive control method according to a second embodiment of the present invention;
FIG. 3 is a flow chart of an adjustment to an engine feed-forward torque coefficient table provided by an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a starting adaptive control device according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a starting adaptive control method according to an embodiment of the present invention, where the embodiment is applicable to achieving that an engine speed reaches an engine target speed by controlling a clutch torque, and the method may be implemented by a starting adaptive control device according to an embodiment of the present invention, which may be integrated in a vehicle controller and implemented in a software and/or hardware manner. The starting adaptive control method provided by the embodiment specifically comprises the following steps:
and S110, determining whether the vehicle meets the self-adaptive starting control condition according to the vehicle state information when the vehicle starts.
The vehicle state information when the vehicle starts includes information of each component of the vehicle, environmental information, and the like when the vehicle starts. Such as the gear position of the vehicle before starting, the parking time, the oil temperature of the vehicle transmission, the accelerator opening degree when the vehicle starts, the atmospheric pressure value of the vehicle and the like. The self-adaptive control of the starting of the vehicle can ensure that the clutch control can be in accordance with the intention of a driver under various ground conditions with different resistances and different states of an engine and a clutch; the adaptive starting control needs to control the impact of the vehicle within an acceptable range, and the smooth starting of the vehicle is ensured. Therefore, before the vehicle enters the take-off adaptive control, it is necessary to determine whether the vehicle satisfies the take-off adaptive control conditions.
In this embodiment of the present invention, optionally, determining whether the vehicle satisfies the adaptive starting control condition includes at least one of: determining that the parking time of the vehicle in a forward gear/a backward gear does not exceed a preset time; determining that the oil temperature of the vehicle transmission is greater than a minimum oil temperature limit value and less than a maximum oil temperature limit value; acquiring the accelerator opening at a preset time point when the vehicle starts, and determining that the difference between the accelerator opening at the preset time point and the accelerator opening in the vehicle starting process is greater than a minimum accelerator opening limit value and smaller than a maximum accelerator threshold value; and determining that the vehicle atmospheric pressure value is smaller than the vehicle atmospheric pressure maximum limit value.
The parking time of the vehicle in the forward gear/the reverse gear refers to the time length from the time when the gear shift lever of the vehicle is in the forward gear/the reverse gear and the vehicle speed is less than the vehicle speed limit value to the time when the vehicle enters the starting adaptive control. The vehicle speed limit value can be obtained through calibration. Calibration refers to the use of a standard metrology instrument to determine whether the accuracy (precision) of the instrument used meets a standard. The automobile calibration comprises terminal controller calibration, engine calibration and vehicle-mounted communication device whole automobile calibration. In the embodiment of the invention, the vehicle speed limit value, the preset duration, the minimum oil temperature limit value of the oil temperature of the vehicle transmission, the maximum oil temperature limit value of the oil temperature of the vehicle transmission, the preset time point of the accelerator opening at the preset time point, the minimum accelerator opening limit value and the maximum accelerator opening limit value can be obtained by calibrating an automobile. Further, when the vehicle meets at least one of the starting adaptive control conditions, the vehicle starting adaptive control is started.
By the method, whether the vehicle meets the starting adaptive control condition or not can be judged before the vehicle enters the starting adaptive control, so that the situation that the vehicle does not meet the starting adaptive control condition and misoperation is generated on the vehicle is avoided, and the user experience is further improved.
And S120, if the vehicle state information during starting of the vehicle meets the starting adaptive control condition, calculating the difference value between the engine rotating speed and the target engine rotating speed during starting of the vehicle.
The engine speed can be obtained by a speed sensor. Specifically, a rotational speed sensor may be utilized to correspond to signal teeth on an engine flywheel to measure the rotational speed of the engine. The engine target rotation speed is an optimum engine rotation speed that is determined in accordance with a running state of the vehicle or the like at the time of designing the vehicle. The vehicle can control the engine speed according to the target engine speed, so that the engine speed is as close to the target engine speed as possible. The target rotating speed calculation module of the engine in the vehicle can calculate the target rotating speed of the engine according to the target rotating speed curve of the engine. The engine target speed curve represents the functional relation between the engine power, the torque and the engine crankshaft speed. Specifically, at the time of vehicle startup, the difference between the engine speed and the engine target speed is calculated. For example, when the vehicle starts, the engine speed is 3500 rpm measured by the speed sensor, and the target engine speed calculated by the target engine speed calculation module is 3800 rpm. The difference between the engine speed and the engine target speed is 300 rpm. Assuming that the engine speed measured by the speed sensor is 3500 rpm, the target engine speed calculated by the target engine speed calculation module is 3200 rpm. The difference between the engine speed and the engine target speed is-300.
And S130, judging whether the accumulated value of the difference values exceeds a preset threshold value.
The accumulated value of the difference is obtained by calculating the difference between the engine speed and the target engine speed for a plurality of times, adding the calculated differences, and taking the absolute value. The preset threshold value can be set manually according to automobile calibration, the actual state of the automobile, professional knowledge and experience in the automobile field and the like. Illustratively, the preset threshold is 200-500. And calculating the difference value between the engine speed and the target engine speed for multiple times and accumulating the calculation results, wherein when the accumulated value of the difference value is less than 200 or more than 500, the accumulated value of the difference value can be determined to exceed the preset threshold value.
And S140, when the accumulated value of the difference values exceeds a preset threshold value, adjusting an engine feed-forward torque coefficient table.
The engine feed-forward torque is a specific index of the acceleration capability of the engine, is the reciprocating motion of a piston in a cylinder, and can do certain work after reciprocating once. The engine feedforward torque coefficient table records values of the engine feedforward torque coefficient under different vehicle states and different accelerator opening degrees. When the accumulated value of the difference exceeds the preset threshold, the difference between the engine rotating speed and the target engine rotating speed is large, the vehicle cannot follow the real intention of a driver during starting, and user experience is influenced. Therefore, when the integrated value of the difference values exceeds a preset threshold value, the engine feed-forward torque coefficient table is adjusted. For example, when the accumulated value of the difference exceeds the upper limit value of a preset threshold, the engine feedforward torque coefficient corresponding to the accelerator opening is increased according to a preset step length; when the accumulated value of the difference exceeds the lower limit value of a preset threshold, reducing the engine feedforward torque coefficient corresponding to the opening of the accelerator according to a preset step length; and when the accumulated value of the difference value is within the range of the preset threshold value, the feedforward torque coefficient table of the engine is not adjusted.
And S150, controlling the vehicle to start based on the engine feedforward torque coefficient table.
Specifically, after the engine feedforward torque coefficient table is obtained, the engine feedforward torque coefficient corresponding to the current accelerator opening in the engine feedforward torque coefficient table is found according to the accelerator opening when the vehicle starts. And calculating the clutch torque of the vehicle according to the searched engine feedforward torque coefficient. And calculating the vehicle clutch torque based on the engine feedforward torque coefficient corresponding to the current accelerator opening, so that the vehicle clutch torque can conform to the intention of a driver. Further, the engine speed at the time of vehicle start is controlled according to the clutch torque, thereby controlling the vehicle start. Among other things, the clutch may be used to transmit engine torque. Therefore, the torque of the clutch is calculated, and the torque of the clutch can be transmitted to the engine, so that the engine rotates according to the corresponding speed.
According to the scheme, whether the vehicle meets the starting adaptive control condition is determined according to the vehicle state information when the vehicle starts; calculating the difference value between the engine rotating speed and the target rotating speed of the engine when the vehicle starts; judging whether the accumulated value of the difference value exceeds a preset threshold value or not; when the accumulated value of the difference value exceeds a preset threshold value, adjusting an engine feedforward torque coefficient table; and controlling the vehicle to start based on the engine feedforward torque coefficient table. The engine feedforward torque coefficient table can be adjusted according to the difference value between the engine rotating speed and the engine target rotating speed when the vehicle starts every time, and the accuracy of calculating the engine rotating speed is improved. The self-adaption of vehicle starting is further controlled according to the rotating speed of the engine, the starting consistency of different vehicles and the same vehicle in the whole life cycle can be ensured, and the situation that the clutch is ablated due to overlarge starting friction is avoided. The implementation method is low in difficulty and high in accuracy, and the robustness of the vehicle starting self-adaptive method is improved.
Example two
Fig. 2 is a flowchart of another starting adaptive control method according to a second embodiment of the present invention; the embodiment can achieve that the engine speed reaches the target engine speed by controlling the clutch torque, and further refines the starting adaptive control method, as shown in fig. 2, the refined starting adaptive control method mainly comprises the following steps:
s201, determining whether the vehicle meets self-adaptive starting control conditions or not according to the vehicle state information when the vehicle starts.
Wherein, the step of determining whether the vehicle meets the self-adaptive starting control condition comprises at least one of the following steps: determining that the parking time of the vehicle in a forward gear/a backward gear does not exceed a preset time; determining that the oil temperature of the vehicle transmission is greater than a minimum oil temperature limit value and less than a maximum oil temperature limit value; acquiring the accelerator opening at a preset time point when a vehicle starts, and determining that the difference value between the accelerator opening at the preset time point and the accelerator opening in the vehicle starting process is greater than a minimum accelerator opening limit value and smaller than a maximum accelerator opening threshold value; and determining that the vehicle atmospheric pressure value is smaller than the vehicle atmospheric pressure maximum limit value.
And S202, if the vehicle state information during vehicle starting does not meet the starting adaptive control condition, ending the starting adaptive control on the vehicle.
Specifically, state information of the vehicle at the time of starting is acquired at the time of starting the vehicle, and if the vehicle state information at the time of starting the vehicle does not satisfy the starting adaptive control condition, the starting adaptive control of the vehicle is ended. And judging whether the vehicle state information meets the starting self-adaptive condition or not according to the actual condition and the specific requirement. For example, if the driving scene of the vehicle is a normal downtown area, the vehicle state information may be determined to be not satisfied with the start adaptive condition as long as the vehicle state information is not satisfied with any of the start adaptive conditions. And if the vehicle is in an extreme area, such as an area with extremely low air pressure, in the process of production, the running environment of the vehicle is preset, and the vehicle state information can be judged to meet the starting adaptive condition without meeting the condition that the vehicle atmospheric pressure value is smaller than the vehicle atmospheric pressure maximum limit value. Further, when the vehicle state information at the time of vehicle start does not satisfy the start adaptive control condition, the start adaptive control for the vehicle is ended.
And S203, if the vehicle state information during starting of the vehicle meets the starting adaptive control condition, calculating the difference value between the engine rotating speed and the target engine rotating speed during starting of the vehicle.
The engine speed can be obtained through a speed sensor, and an engine target speed calculation module in the vehicle can calculate the target speed of the engine according to an engine target speed curve. Specifically, when it is determined that vehicle state information at the time of vehicle start satisfies the start adaptive control condition, a difference between the engine speed and the target engine speed at the time of vehicle start is calculated, and the calculation result is accumulated every time the calculation is performed, so that an accumulated value of the difference between the engine speed and the target engine speed is obtained.
And S204, judging whether the accumulated value of the difference values exceeds a preset threshold value.
The accumulated value of the difference is obtained by calculating the difference between the engine speed and the target engine speed for a plurality of times, adding the calculated differences, and taking the absolute value. Wherein the preset threshold is a range of a difference between the engine speed and the engine target speed.
And S205, when the accumulated value of the difference values exceeds a preset threshold value, adjusting an engine feedforward torque coefficient table.
The preset threshold defines an upper limit value and a lower limit value of the difference value accumulated value. Specifically, assume that the preset threshold is 200-500. The difference values for the engine speed and the engine target speed are 50, -80, 50, 30, 50 and 20, respectively. The difference is accumulated to obtain 120 | -50-80 +50+30+50+20 |. It may be determined that the accumulated value of the difference values is smaller than the lower limit value of the preset threshold value. The engine feed-forward torque coefficient table needs to be adjusted.
In this embodiment, optionally, when the accumulated value of the difference exceeds the upper limit value of the preset threshold, the engine feedforward torque coefficient corresponding to the accelerator opening is increased according to the preset step length. And when the accumulated value of the difference exceeds the lower limit value of the preset threshold, reducing the engine feedforward torque coefficient corresponding to the accelerator opening according to the preset step length. And when the accumulated value of the difference value is within the range of the preset threshold value, the engine feedforward torque coefficient table is not adjusted.
The preset threshold defines an upper limit value and a lower limit value of the accumulated difference value. The preset step length and the preset threshold value can be obtained through automobile calibration. For example, the engine feed-forward torque coefficient corresponding to the accelerator opening may be adjusted according to a preset step length by an interpolation method or the like. Assume that the accelerator opening at the preset time point acquired in S210 is petal, fDeltaIs a preset step length. The accelerator opening can be known by looking up a feedforward torque coefficient table of the engine, and the accelerator opening P is in the feedforward torque coefficient table of the enginenAnd throttle opening degree Pn+1And P isnAnd Pn+1The corresponding feedforward torque coefficients of the engine are respectively fnAnd fn+1And adjusting the engine feedforward torque coefficient table according to the preset step length and the accelerator opening at the preset time point to obtain:throttle opening degree PnThe corresponding engine feed forward torque coefficients are: f. ofn+(Pn+1-Pedal)/(Pn+1-Pn)*fDelta. Throttle opening degree Pn+1The corresponding engine feed forward torque coefficients are: f. ofn+1+(Pedal-Pn)/(Pn+1-Pn)*fDelta. Wherein, when the accumulated value of the difference exceeds the upper limit value of the preset threshold, the preset step length fDeltaIs a positive number. When the accumulated value of the difference is smaller than the lower limit value of the preset threshold, the preset step length fDeltaIs a negative number. And when the accumulated value of the difference value is within the range of the preset threshold value, the engine feedforward torque coefficient table is not adjusted. FIG. 3 is a flow chart of adjusting an engine feed-forward torque coefficient table according to an embodiment of the present invention. As shown in fig. 3, after it is determined that the vehicle state information satisfies the start adaptive control condition, the difference between the engine speed and the target engine speed is calculated, and the difference is accumulated to obtain an accumulated difference value. And after obtaining the accumulated value of the difference value, checking whether the starting self-adaptive process is finished. And after the starting self-adaptive process is determined to be finished, determining whether the accumulated value of the difference value exceeds the upper limit value of a preset threshold value, and if so, increasing the engine feedforward torque coefficient corresponding to the accelerator opening according to a preset step length. And when the accumulated value of the difference values is smaller than the lower limit value of the preset threshold value, reducing the engine feedforward torque coefficient corresponding to the accelerator opening according to the preset step length. And when the accumulated value of the difference value is within the range of the preset threshold value, the engine feedforward torque coefficient table is not adjusted. The self-adaptive control method comprises the steps of judging whether the self-adaptive control of vehicle starting is finished or not through a starting control module in the vehicle.
Based on the accumulated value of the difference value between the engine rotating speed and the engine target rotating speed, the engine feedforward torque coefficient table is adjusted according to the preset step length, the accuracy of calculating the clutch torque is improved, and the accuracy of calculating the engine rotating speed is further improved.
And S206, storing the adjusted engine feedforward torque coefficient table in a nonvolatile memory.
The nonvolatile memory can ensure that data cannot be lost when the memory is closed or closed suddenly or accidentally. The adjusted engine feedforward torque coefficient table is stored in the nonvolatile memory, so that the vehicle starting self-adaption can be conveniently controlled based on the adjusted engine feedforward torque coefficient table in the follow-up process, and the engine feedforward torque coefficient table can be conveniently adjusted based on the preset step length in the follow-up process.
And S207, acquiring the opening degree of an accelerator when the vehicle starts, and searching an engine feedforward torque coefficient corresponding to the opening degree of the accelerator in the engine feedforward torque coefficient table based on the opening degree of the accelerator.
And when the vehicle starts, acquiring the opening degree of an accelerator when the vehicle starts, and searching an engine feedforward torque coefficient corresponding to the current opening degree of the accelerator in the adjusted engine feedforward torque coefficient table in the memory according to the opening degree of the accelerator when the vehicle starts.
And S208, acquiring engine feed-forward torque, P I closed-loop torque and four-wheel drive system torque.
The PI closed-loop torque is a closed-loop torque generated by a vehicle through PI (proportional integral) closed-loop control. The PI closed-loop control is a control quantity formed by linearly combining the proportion and integral of a control deviation according to the control deviation formed by a given value and an actual output value, and controls a controlled object. Wherein the four-wheel drive system torque is the torque distributed by the vehicle in the Proactive four-wheel drive mode. Specifically, engine feed forward torque, P I closed loop torque, and four wheel drive system torque may be calculated by a clutch torque calculation module in the vehicle.
S209, calculating the vehicle clutch torque based on the engine feedforward torque coefficient, the engine feedforward torque, the PI closed-loop torque and the four-wheel drive system torque as follows:
Tclt＝f*TEng+TPI-Tproactive
wherein, TEngRepresenting engine feed-forward torque, TPIDenotes PI closed-Loop Torque, TproactiveRepresenting four-wheel drive system torque, TcltRepresenting vehicle clutch torque, and f representing an engine feed forward torque coefficient.
Wherein the engine feedforward torque coefficient represented by f is an engine feedforward torque coefficient corresponding to the accelerator opening found in the engine feedforward torque coefficient table according to the accelerator opening when the vehicle starts.
And S210, controlling the engine speed when the vehicle starts based on the clutch torque of the vehicle.
Wherein the vehicle clutch torque is calculated according to the formula, and the vehicle clutch torque is calculated according to the adjusted engine feed-forward torque coefficient table. Since the vehicle clutch can transmit torque to the engine, the engine speed at the time of starting the vehicle can be calculated from the torque after the clutch torque calculated according to the above formula is obtained. The engine speed is calculated based on an engine feedforward torque coefficient corresponding to the vehicle throttle opening in the engine feedforward torque coefficient table, so that the engine speed is closer to the target engine speed.
According to the starting self-adaptive control method provided by the embodiment of the invention, whether the vehicle meets the starting self-adaptive control condition is determined according to the vehicle state information when the vehicle starts. And if the vehicle state information during vehicle starting does not meet the starting adaptive control condition, ending the starting adaptive control on the vehicle. And if the vehicle state information during starting of the vehicle meets the starting adaptive control condition, calculating the difference value between the engine rotating speed and the target engine rotating speed during starting of the vehicle. And when the accumulated value of the difference values exceeds a preset threshold value, adjusting the engine feedforward torque coefficient table. The adjusted feedforward torque coefficient table is stored in a non-volatile memory. And acquiring the opening degree of an accelerator when the vehicle starts, and searching an engine feedforward torque coefficient corresponding to the opening degree of the accelerator in an engine feedforward torque coefficient table based on the opening degree of the accelerator. Acquiring engine feed-forward torque, P I closed-loop torque and four-wheel drive system torque; vehicle clutch torque is calculated based on the engine feed-forward torque coefficient, the engine feed-forward torque, the PI closed-loop torque, and the four-wheel drive system torque. The engine speed at the time of vehicle start is controlled based on the clutch torque of the vehicle. The method of the embodiment of the invention improves the accuracy of calculating the rotating speed of the engine. The self-adaption control of vehicle starting is realized according to the control of the rotating speed of the engine, the consistency of starting of different vehicles and the same vehicle in the whole life cycle can be ensured, and the situation that the clutch is ablated due to overlarge starting friction is avoided.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a starting adaptive control device according to a third embodiment of the present invention. The embodiment of the invention provides a self-adaptive starting control device, which comprises:
the condition judgment module 410 is used for determining whether the vehicle meets a starting adaptive control condition according to vehicle state information when the vehicle starts;
a difference value calculating module 420, configured to calculate a difference value between an engine speed and a target engine speed when the vehicle starts if the vehicle state information at the time of starting the vehicle meets the starting adaptive control condition;
an accumulated value determining module 430, configured to determine whether the accumulated value of the difference value exceeds a preset threshold;
a coefficient table adjustment module 440 to adjust an engine feed-forward torque coefficient table when the accumulated value of the difference values exceeds a preset threshold;
and a start control module 450 for controlling the vehicle to start based on the engine feed-forward torque coefficient table.
According to the scheme provided by the embodiment of the invention, whether the self-adaptive control of starting of the vehicle can be carried out can be judged by obtaining the vehicle state information when the vehicle starts, the engine feed-forward torque coefficient table is adjusted according to the difference value between the engine rotating speed and the target rotating speed of the engine when the vehicle starts every time, and the accuracy of calculating the rotating speed of the engine is improved. The self-adaption of vehicle starting is further controlled according to the rotating speed of the engine, the starting consistency of different vehicles and the same vehicle in the whole life cycle can be ensured, and the situation that the clutch is ablated due to overlarge starting friction is avoided. The implementation method is low in difficulty and high in accuracy, and the robustness of the vehicle starting self-adaptive method is improved.
Optionally, the condition determining module 410 is specifically configured to:
determining whether the vehicle satisfies launch adaptive control conditions comprises at least one of:
determining that the parking time of the vehicle in a forward gear/a reverse gear does not exceed a preset time;
determining that the vehicle transmission oil temperature is greater than a minimum oil temperature limit and less than a maximum oil temperature limit;
acquiring the accelerator opening at a preset time point when the vehicle starts, and determining that the difference value between the accelerator opening at the preset time point and the accelerator opening in the vehicle starting process is greater than a minimum accelerator opening limit value and smaller than a maximum accelerator opening threshold value;
and determining that the vehicle atmospheric pressure value is smaller than the vehicle atmospheric pressure maximum limit value.
Optionally, the condition determining module 410 is further configured to:
and if the vehicle state information during vehicle starting does not meet the starting adaptive control condition, ending the starting adaptive control on the vehicle.
Optionally, the coefficient table adjusting module 440 is specifically configured to:
when the accumulated value of the difference value exceeds the upper limit value of a preset threshold value, increasing the engine feedforward torque coefficient corresponding to the accelerator opening according to a preset step length;
when the accumulated value of the difference value exceeds a lower limit value of a preset threshold value, reducing an engine feedforward torque coefficient corresponding to the accelerator opening according to a preset step length;
and when the accumulated value of the difference value is within the range of the preset threshold value, not adjusting the engine feedforward torque coefficient table.
Optionally, after adjusting the engine feed-forward torque coefficient table, the method further includes:
storing the adjusted engine feed-forward torque coefficient table in a non-volatile memory.
Optionally, the starting control module 450 specifically includes:
the coefficient searching module is used for acquiring the opening degree of an accelerator when the vehicle starts, and searching an engine feedforward torque coefficient corresponding to the opening degree of the accelerator in the engine feedforward torque coefficient table based on the opening degree of the accelerator;
a torque calculation module to calculate a clutch torque of the vehicle based on the engine feed-forward torque coefficient;
and the rotating speed control module is used for controlling the rotating speed of the engine when the vehicle starts based on the clutch torque of the vehicle.
Optionally, the torque calculation module is specifically configured to:
acquiring engine feed-forward torque, P I closed-loop torque and four-wheel drive system torque;
calculating the vehicle clutch torque based on the engine feed-forward torque coefficient, the engine feed-forward torque, the PI closed-loop torque and the four-wheel drive system torque as follows:
Tclt＝f*TEng+TPI-Tproactive
wherein, TEngRepresenting said engine feed forward torque, TPIRepresenting the PI closed loop torque, TproactiveRepresenting the four-wheel drive system torque, TcltRepresenting the vehicle clutch torque, and f representing an engine feed forward torque coefficient.
The self-adaptive starting control device provided by the embodiment of the invention can execute the self-adaptive starting control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 5 is a schematic diagram of an electronic device according to an embodiment of the present invention. Referring to FIG. 5, a schematic diagram of a computer system 12 suitable for use with the electronic device implementing an embodiment of the invention is shown. The electronic device shown in fig. 5 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention. The components of electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Electronic device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by electronic device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, and commonly referred to as a "hard drive"). Although not shown in FIG. 5, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of embodiments of the invention as described.
Electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with electronic device 12, and/or with any devices (e.g., network card, modem, etc.) that enable electronic device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. In the electronic device 12 of the present embodiment, the display 24 is not provided as a separate body but is embedded in the mirror surface, and when the display surface of the display 24 is not displayed, the display surface of the display 24 and the mirror surface are visually integrated. Also, the electronic device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 20. As shown, the network adapter 20 communicates with the other modules of the electronic device 12 over the bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 16 executes various functional applications and vehicle sequence data processing by running a program stored in the system memory 28, for example, to implement a starting adaptive control method provided by an embodiment of the present invention: determining whether the vehicle meets a starting adaptive control condition or not according to vehicle state information when the vehicle starts; if the vehicle state information during starting of the vehicle meets the starting adaptive control condition, calculating a difference value between the engine rotating speed and the target engine rotating speed during starting of the vehicle; judging whether the accumulated value of the difference value exceeds a preset threshold value or not; when the accumulated value of the difference value exceeds a preset threshold value, adjusting an engine feedforward torque coefficient table; and controlling the vehicle to start based on the engine feed-forward torque coefficient table.
EXAMPLE five
Embodiments of the present invention provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a launch adaptive control method as provided in all embodiments of the present invention: determining whether the vehicle meets a starting adaptive control condition or not according to vehicle state information when the vehicle starts; if the vehicle state information during starting of the vehicle meets the starting adaptive control condition, calculating a difference value between the engine rotating speed and the target engine rotating speed during starting of the vehicle; judging whether the accumulated value of the difference value exceeds a preset threshold value or not; when the accumulated value of the difference value exceeds a preset threshold value, adjusting an engine feedforward torque coefficient table; and controlling the vehicle to start based on the engine feed-forward torque coefficient table. Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions will now be apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.

Claims (10)

1. A starting adaptive control method, comprising:
determining whether the vehicle meets a starting adaptive control condition or not according to vehicle state information when the vehicle starts;
if the vehicle state information during starting of the vehicle meets the starting adaptive control condition, calculating a difference value between the engine rotating speed and the target engine rotating speed during starting of the vehicle;
judging whether the accumulated value of the difference value exceeds a preset threshold value or not;
when the accumulated value of the difference value exceeds a preset threshold value, adjusting a feed-forward torque coefficient table of the engine;
and controlling the vehicle to start based on the engine feedforward torque coefficient table.
2. The adaptive starting control method according to claim 1, wherein the determining whether the vehicle satisfies the adaptive starting control condition according to the vehicle state information at the time of starting the vehicle comprises at least one of:
determining that the parking time of the vehicle in a forward gear/a backward gear does not exceed a preset time;
determining that the vehicle transmission oil temperature is greater than a minimum oil temperature limit and less than a maximum oil temperature limit;
acquiring the accelerator opening at a preset time point when the vehicle starts, and determining that the difference value between the accelerator opening at the preset time point and the accelerator opening in the vehicle starting process is greater than a minimum accelerator opening limit value and smaller than a maximum accelerator opening threshold value;
and determining that the vehicle atmospheric pressure value is smaller than the vehicle atmospheric pressure maximum limit value.
3. The adaptive starting control method according to claim 1, wherein the determining whether the vehicle satisfies the adaptive starting control condition based on the vehicle state information at the time of starting the vehicle comprises:
and if the vehicle state information during the vehicle starting does not meet the starting adaptive control condition, ending the starting adaptive control on the vehicle.
4. The adaptive starting control method according to claim 1, wherein said adjusting an engine feed-forward torque coefficient table when the integrated value of the difference values exceeds a preset threshold value comprises:
when the accumulated value of the difference value exceeds the upper limit value of a preset threshold value, increasing the engine feedforward torque coefficient corresponding to the accelerator opening according to a preset step length;
when the accumulated value of the difference value exceeds a lower limit value of a preset threshold value, reducing an engine feedforward torque coefficient corresponding to the accelerator opening according to a preset step length;
and when the accumulated value of the difference value is within the range of the preset threshold value, not adjusting the engine feedforward torque coefficient table.
5. The launch adaptive control method according to claim 4, further comprising, after adjusting the engine feed-forward torque coefficient table:
storing the adjusted engine feed-forward torque coefficient table in a non-volatile memory.
6. The launch adaptive control method of claim 1, wherein controlling the vehicle launch based on the engine feed forward torque coefficient table comprises:
acquiring the opening degree of an accelerator when the vehicle starts, and searching an engine feedforward torque coefficient corresponding to the opening degree of the accelerator in the engine feedforward torque coefficient table based on the opening degree of the accelerator;
calculating a clutch torque of the vehicle based on the engine feed-forward torque coefficient;
controlling an engine speed at which the vehicle is started based on the clutch torque of the vehicle.
7. The adaptive launch control method according to claim 6, wherein the calculating clutch torque for the vehicle based on the engine feed forward torque coefficient comprises:
acquiring a feedforward torque, a PI closed-loop torque and a four-wheel drive system torque of an engine;
calculating the vehicle clutch torque based on the engine feed-forward torque coefficient, the engine feed-forward torque, the PI closed-loop torque and the four-wheel drive system torque as follows:
Tclt＝f*TEng+TPI-Tproactive
wherein, TEngRepresenting said engine feed forward torque, TPIRepresenting the PI closed loop torque, TproactiveRepresenting the four-wheel drive system torque, TcltRepresenting the vehicle clutch torque, and f representing an engine feed forward torque coefficient.
8. A starting adaptive control device, comprising:
the condition judgment module is used for determining whether the vehicle meets a starting self-adaptive control condition according to vehicle state information when the vehicle starts;
the difference value calculation module is used for calculating the difference value between the engine rotating speed and the target engine rotating speed when the vehicle starts if the vehicle state information during the vehicle starting meets the starting adaptive control condition;
the accumulated value judging module is used for judging whether the accumulated value of the difference value checks a preset threshold value or not;
the coefficient table adjusting module is used for adjusting an engine feedforward torque coefficient table when the accumulated value of the difference value exceeds a preset threshold value;
and the starting control module is used for controlling the vehicle to start based on the engine feedforward torque coefficient table.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the launch adaptive control method according to any one of claims 1 to 7 when executing the program.
10. A computer-readable storage medium on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out a startup adaptive control method according to any one of claims 1 to 7.
CN202210383716.9A 2022-04-12 2022-04-12 Starting self-adaptive control method and device, electronic equipment and storage medium Pending CN114734815A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210383716.9A CN114734815A (en) 2022-04-12 2022-04-12 Starting self-adaptive control method and device, electronic equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210383716.9A CN114734815A (en) 2022-04-12 2022-04-12 Starting self-adaptive control method and device, electronic equipment and storage medium

Publications (1)

Publication Number Publication Date
CN114734815A true CN114734815A (en) 2022-07-12

Family

ID=82281071

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210383716.9A Pending CN114734815A (en) 2022-04-12 2022-04-12 Starting self-adaptive control method and device, electronic equipment and storage medium

Country Status (1)

Country Link
CN (1) CN114734815A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116146306A (en) * 2023-03-22 2023-05-23 一汽解放汽车有限公司 Vehicle oil-gas separation control method, device, computer equipment and storage medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116146306A (en) * 2023-03-22 2023-05-23 一汽解放汽车有限公司 Vehicle oil-gas separation control method, device, computer equipment and storage medium
CN116146306B (en) * 2023-03-22 2024-05-03 一汽解放汽车有限公司 Vehicle oil-gas separation control method, device, computer equipment and storage medium

Similar Documents

Publication Publication Date Title
CN111645672B (en) Automatic parking control method, device, equipment and storage medium
US8010272B2 (en) Control device for internal combustion engine
US10023188B2 (en) Systems and methods for pre-hill cruise speed adjustment
EP4015325A1 (en) Intelligent four-wheel drive control method and system, and vehicle
CN111305963B (en) Torque output control method, device, equipment and storage medium for vehicle
GB2196407A (en) Clutch target position control system
CN114734815A (en) Starting self-adaptive control method and device, electronic equipment and storage medium
CN113775670B (en) Self-learning method, device, equipment and storage medium for clutch half-combining point
CN114562559B (en) Neutral gear control method and device of two-gear motor, electronic equipment and storage medium
KR100826689B1 (en) Method for modifying a defined adaptive driving strategy
JP2015224543A (en) Engine speed control device
CN111873982B (en) Starting control method and device, vehicle and storage medium
CN115610417A (en) Power control method and system in plateau environment and vehicle
US6786195B2 (en) Method of controlling the rotational speed of a drive unit
CN114962623B (en) Method, apparatus, computer device and readable storage medium for vehicle start control
CN114475776B (en) Torque compensation method and device, vehicle and storage medium
US6877480B2 (en) Idle speed compensation in a pedal map
CN111089166B (en) Self-learning method and device for hydraulic torque converter, electronic equipment and storage medium
CN114182780A (en) Excavator control method, device and system and storage medium
CN110552800B (en) Throttle control method and device
US20200346651A1 (en) Method of controlling dual clutch transmission and system thereof
CN112208330A (en) Starting control method and device of wet double clutch, electronic equipment and vehicle
CN108571388B (en) Method and device for adapting the resistive torque
CN112265547B (en) Control method, device and equipment for slope starting and vehicle
CN116696570A (en) Engine torque control method and device, electronic equipment and storage medium

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination